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All Journal IAES International Journal of Robotics and Automation (IJRA)
Aulia Rahman Thoharsin
Sriwijaya University
Automotive Engineering Electrical & Electronics Engineering

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Intelligent Mobile Olfaction of Swarm Robots Siti Nurmaini; Bambang Tutuko; Aulia Rahman Thoharsin
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (511.068 KB) | DOI: 10.11591/ijra.v2i4.pp189-198

Abstract

This work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm. We examine the problem for deciding when, how and where the gas/odour sensor should be activated. Simple form of cooperation between Interval Type-2 Fuzzy Logic and Particle Swarm Optimization (IT2FL-PSO) algorithm is implemented in the olfaction strategies. The real experiments performed on smaller five mobile robots equipped with dynamic gas/odour sensor TGS2600 and three infra-red sensors. The results show that single robot-based olfaction system with 5 behaviors capable for searching source of a simulated chemical leak in unknown environment and flooking behavior can be done by 3 robots to find the source of gas/odour.
Co-Authors Bambang Tutuko Siti Nurmaini